ncollide3d::shape

Trait ConvexPolyhedron

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pub trait ConvexPolyhedron<N: RealField + Copy>: SupportMap<N> {
    // Required methods
    fn vertex(&self, id: FeatureId) -> Point<N>;
    fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>);
    fn edge(&self, id: FeatureId) -> (Point<N>, Point<N>, FeatureId, FeatureId);
    fn feature_normal(&self, feature: FeatureId) -> Unit<Vector<N>>;
    fn support_face_toward(
        &self,
        transform: &Isometry<N>,
        dir: &Unit<Vector<N>>,
        out: &mut ConvexPolygonalFeature<N>,
    );
    fn support_feature_toward(
        &self,
        transform: &Isometry<N>,
        dir: &Unit<Vector<N>>,
        _angle: N,
        out: &mut ConvexPolygonalFeature<N>,
    );
    fn support_feature_id_toward(
        &self,
        local_dir: &Unit<Vector<N>>,
    ) -> FeatureId;
}
Expand description

Trait implemented by all convex polyhedron.

Required Methods§

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fn vertex(&self, id: FeatureId) -> Point<N>

Gets the specified vertex in the shape local-space.

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fn face(&self, id: FeatureId, face: &mut ConvexPolygonalFeature<N>)

Fill face with the geometric description of the specified face, in the shape’s local-space.

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fn edge(&self, id: FeatureId) -> (Point<N>, Point<N>, FeatureId, FeatureId)

Get the specified edge’s vertices (in the shape local-space) and the vertices’ identifiers.

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fn feature_normal(&self, feature: FeatureId) -> Unit<Vector<N>>

Returns any normal from the normal cone of the given feature.

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fn support_face_toward( &self, transform: &Isometry<N>, dir: &Unit<Vector<N>>, out: &mut ConvexPolygonalFeature<N>, )

Retrieve the face (in world-space) with a normal that maximizes the scalar product with dir.

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fn support_feature_toward( &self, transform: &Isometry<N>, dir: &Unit<Vector<N>>, _angle: N, out: &mut ConvexPolygonalFeature<N>, )

Retrieve the feature (in world-space) which normal cone contains dir.

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fn support_feature_id_toward(&self, local_dir: &Unit<Vector<N>>) -> FeatureId

Retrieve the identifier of the feature which normal cone contains dir.

Implementors§